METHOD FOR CONTROLLING A SERIES HYBRID VEHICLE AND ASSOCIATED VEHICLE

Abstract

The present invention relates to a method for controlling a series hybrid vehicle (1) by means of a pedal assembly (14), which comprises the following steps: - placing a fixed rear terminal (RB), corresponding to an angular position (θ) of the pedals (141) beyond which the vehicle (1) switches to reverse gear operating mode (BW) located at a first distance (Δ) from the reference position (θ(0)) in the indirect direction of rotation of the pedals (141);- placing a dynamic front terminal (FB), corresponding to an angular position (θ) of the pedals (141) beyond which the vehicle (1) switches to the engaged operating mode in forward gear (FW), located at a second distance (ε) from the reference position (θ(0)) in the direct direction of rotation of the pedals (141), and - as long as the pedal assembly (14) is actuated in the indirect direction, the measured instantaneous position (θ(t)) of the pedals (141) becomes the reference position (θ(0)) for the dynamic front terminal (FB), the front terminal thus following said instantaneous position (θ(t)) at said second distance (ε), and vice versa when the value of the last engaged state (LES) is in reverse gear. Figure for the abstract: fig. 4.;

Description

Title of the invention: METHOD FOR CONTROLLING A SERIES HYBRID VEHICLE AND ASSOCIATED VEHICLE Technical field

[0001] The present invention relates to the field of so-called "series hybrid" type vehicles, i.e. vehicles in which the user controls a motor setting the vehicle in motion by means of a pedal assembly which is not mechanically coupled to the wheels of the vehicle. These vehicles are notably distinct from so-called electrically assisted vehicles, in which the pedal assembly is mechanically coupled to a wheel of the vehicle, and where a generally electric motor reinforces the actuation by the user to relieve it.

[0002] The invention relates in particular to the method of controlling such a series hybrid vehicle, that is to say to the correspondence between the actuation of the pedals and the actuation of the wheels by means of the motor and the brakes, as well as the variable resistive torque felt by the user of the pedal assembly.

[0003] Technical problem

[0004] For simplified management of series hybrid vehicles, designers seek to minimize the number of control interfaces such as buttons, levers, dials, etc. As a result, the pedal assembly becomes a central element of the interaction between the driver and the vehicle.

[0005] In addition to conventional control of the forward speed of the vehicle, the pedal assembly can also control the braking of the vehicle in the manner of so-called "Dutch" cycles, control the tilting of the vehicle in reverse, and control the speed of movement of the vehicle in reverse.

[0006] With the multiplication of controls integrated into the pedalboard, it becomes difficult to manage the operating modes, the switching from one to another and the possible conflicts between different modes without adding dedicated selectors.

[0007] Switching to reverse gear must in particular result from a deliberate and continuous action. However, when starting the vehicle, the user will often reposition the pedals. Whereas, in a conventional cycle, the absence of reverse gear and the presence of a freewheel allows the pedals to be repositioned simply by turning them in the decoupled direction, the presence of a reverse gear complicates the management of the engine by the pedal assembly.

[0008] In particular, we know a mode of operation called "fixie" from "fixed gear" or "fixed ratio" in French, in which the wheels and the pedals are mutually controlled with a predetermined rotation ratio, which is advantageous at low speed. and allows reverse operation. However, in this operating mode, repositioning the pedals is systematically accompanied by movement of the vehicle.

[0009] This systematic movement can cause accidents, and is felt as a nuisance by the user. In addition, when starting on a hill, the pedal assembly may be in an awkward position where the user does not have sufficient strength to start.

[0010] There is therefore a need for a control method making it possible to reconcile the presence of a reverse gear, in particular with operation in a fixed ratio, and the possibility of repositioning the pedals when necessary. Summary of the invention

[0011] To this end, the invention proposes a method for selecting the operating mode as a function of several conditions measured on the pedal assembly and the vehicle.

[0012] The vehicle comprises in a known manner: - a forward-engaged operating mode, in which movement of the pedals in a forward direction causes the vehicle to move forward and in which a haptic feedback torque is applied to the pedal assembly, and - a reverse-engaged operating mode, in which rotation of the pedals in an indirect direction, opposite to the direct direction, causes the vehicle to move in reverse, and in which a haptic feedback torque is applied to the pedal; and - a disengaged operating mode in which the pedals can be rotated without causing rotation of the drive wheel and in which little or no haptic feedback torque is applied to the pedal assembly.

[0013] To enable the presence of a reverse gear and a freewheel to be reconciled, the invention provides a method which implements the following steps:

[0014] * in an initialization phase:

[0015] - apply the disengaged operating mode;

[0016] - measure the initial angular position of the pedals and define it as the position of reference ;

[0017] - set a default value for the last engaged state, which can be forward or in reverse, as if in forward gear. This initialization phase is implemented in particular after a prolonged stop of the vehicle, either while parked and put on standby, or at, for example, a red traffic light. Then, when the value of the last engaged state is forward, the process performs the steps:

[0018] - place a fixed rear terminal, corresponding to an angular position of the pedals au- beyond which the vehicle switches to reverse gear operating mode located at a first distance from the reference position in the indirect direction of rotation of the pedals;

[0019] - place a dynamic front terminal, corresponding to an angular position of the pedals beyond which the vehicle switches to forward gear operating mode, located at a second distance from the reference position in the direct direction of rotation of the pedals, and - as long as the pedals are operated in the indirect direction, the measured instantaneous position of the pedals becomes the reference position for the dynamic front terminal, the front terminal thus following said reference position at said second distance.

[0020] The method thus simulates a free wheel over a limited angular range of pedal movement, a movement in the indirect direction not immediately causing the vehicle to move backward, while a movement in the direct direction quickly induces a forward movement of the vehicle by choosing the correct values ​​for the angular distances.

[0021] To also manage the reverse transition from reverse gear to forward gear, the method further provides for mirrored behavior of the terminals when the value of the last engaged state is in reverse gear.

[0022] The method then executes the steps:

[0023] - place a fixed front terminal, corresponding to an angular position of the pedals au- beyond which the vehicle switches to forward gear operating mode located at a first distance from the reference position in the direct direction of rotation of the pedals;

[0024] - place a dynamic rear terminal, corresponding to an angular position of the pedals beyond which the vehicle switches to reverse gear operating mode, located a second distance from the reference position in the direct direction of rotation of the pedals, and - as long as the pedals are operated in the forward direction, the measured instantaneous position of the pedals becomes the reference position for the dynamic rear terminal, the rear terminal thus following said reference position at said second distance,

[0025] The method then provides for regularly measuring the angular position of the pedals and, if necessary, switching to engaged operating mode in forward or reverse gear when the angular position of the pedals reaches one of the front or rear terminals, while updating the value of the last engaged state.

[0026] In the operating mode engaged in forward or reverse gear, the method may in particular provide for mutually controlling the position of the pedals and that of the drive wheel of the vehicle.

[0027] To enable use at high vehicle speeds, the method provides, when the engaged mode in forward or reverse gear is applied, to apply the following steps:

[0028] - measure the speed of the vehicle;

[0029] - if the vehicle speed is greater than a moving threshold value before or below a threshold value of reverse movement, the method interrupts the regular measurement of the position of the pedals to enter a cruising state in which the method applies the steps:

[0030] - measure at least one quantity linked to the actuation of the pedals by the user; And

[0031] - control the vehicle speed and the haptic feedback as a function of said quantity measured.

[0032] The cruising state makes it possible, by operating differently from the engaged mode in forward or reverse gear, to manage potentially high traffic speeds, for example to travel on a lane reserved for motor vehicles such as cars.

[0033] In said cruising state, the method advantageously carries out the following steps:

[0034] - measure the angular position of the pedal assembly and deduce a displacement of the pedals; And

[0035] - when the movement of the pedals is contrary to the direction of travel of the vehicle, a braking device is activated, and controlled by backpedaling.

[0036] By implementing backpedal braking in the cruising state, it is possible to avoid having a separate braking control in the passenger compartment, the pedals then managing this function.

[0037] When the vehicle is braked by backpedaling, the control method applies the steps:

[0038] - measure the speed of the vehicle;

[0039] - if the vehicle speed is greater than a speed limit value while driving before or below a reverse speed limit value, the method maintains cruise mode operation; and

[0040] - if the vehicle speed is lower than the forward speed limit value and greater than the reverse speed limit value and a movement of the pedals in the direction of travel of the vehicle greater than a threshold angular value is detected, the method restarts without executing the initialization phase, the position of the pedals when the threshold angular value is reached becoming the reference position.

[0041] Thus, a transparent return for the user to the operating modes engaged in forward or reverse gear is ensured, while the detection of the release of the brake by exceeding the threshold angular value ensures voluntary resumption of movement of the vehicle after braking.

[0042] The threshold angular value is advantageously between two and fifteen degrees of angle.

[0043] According to a particular embodiment, when the cruise state is applied, the method comprises the following steps:

[0044] - measure the speed of the vehicle;

[0045] - if the vehicle speed is lower than a forward speed limit value and greater than the reverse speed limit value, the process exits the movement phase, the angular position of the pedals when crossing one of the speed limit values ​​becoming the reference position.

[0046] These steps make it possible to ensure a return to the engaged operating mode in forward or reverse gear in the absence of braking, for example when friction in the air or a slope in the ground brakes the vehicle without actuation of a brake control.

[0047] The initialization phase is initiated after a stopping phase in which the vehicle is stationary for a predetermined duration, corresponding to a stop for parking or at a red light.

[0048] The first angular distance may in particular be between half a turn and one and a half turns, or between one hundred and eighty and five hundred and forty degrees of angle.

[0049] This relatively large value ensures that the reversal of the vehicle's direction of travel is voluntary.

[0050] The first angular distance can additionally or alternatively be configured by the user.

[0051] The second angular distance may in particular be between two and fifteen degrees of angle.

[0052] This relatively low value simulates a freewheel in the direction of engagement thereof.

[0053] When the angular position of the pedals is located at an angular distance less than a safety angular distance from the front or rear terminals, in particular from the fixed terminal, a variable haptic signaling torque is applied to the pedal assembly.

[0054] This variable haptic signaling torque is, for example, sinusoidal to simulate a vibration, indicating proximity to the corresponding terminal and therefore to starting the vehicle.

[0055] Finally, the invention also relates to the series hybrid vehicle comprising:

[0056] - a motor, setting in motion a drive wheel;

[0057] - a pedal board allowing the control of the motor by rotating pedals;

[0058] - a haptic feedback device exerting a variable resistive torque on the pedal assembly; And

[0059] - means for estimating the position of the pedals;

[0060] comprising a control unit configured to implement the control method as previously described.

[0061] In said series hybrid vehicle, the mechanical energy applied to the pedal assembly can also be used to recharge a battery used to power the motor driving the drive wheel.

[0062] Pedaling is then regenerative for the battery. Brief description of the figures

[0063] The invention will be clearly understood on reading the following description, the details of which are given solely by way of example, and developed in relation to the appended figures, in which identical references refer to identical elements:

[0064] [Fig-1] is a side view of a vehicle according to a particular embodiment of the invention;

[0065] [Fig.2] is a longitudinal sectional view of the vehicle of [Fig.l];

[0066] [Fig.3] is a schematic representation of the pedal assembly of the vehicle of [Fig.l] and of the elements interacting with said pedal assembly when driving;

[0067] [Fig.4] is a diagram illustrating the placement and movement of the forward and reverse terminals of the method when a last engagement state value is in forward;

[0068] [Fig.5] is a diagram illustrating the placement and movement of the forward and reverse terminals of the method when a last engagement state value is in reverse;

[0069] [Fig.6] is a graph of the different states adopted according to the speed of the vehicle and the angular position of the pedals. Detailed description of the invention

[0070] [Fig.l] is a side view of a vehicle 1 of the velomobile type according to the invention.

[0071] The vehicle 1 comprises a passenger compartment 10, comprising a bodywork closing the passenger compartment 10. The passenger compartment 10 has a general shape similar to that of a single-seater car, with side doors 11 and windows 12.

[0072] The vehicle 1 has three wheels 31, 33, with a rear drive wheel 31 and two front steerable wheels 33 (only one of the two front wheels 33 is visible). Other embodiments may use two or four wheels. In addition, one or two front wheels may be driven in addition to or as an alternative to the drive of one or more rear wheels.

[0073] [Fig.2] is a sectional view of the vehicle of [Fig. 1]. In [Fig.2] appears including the interior of the passenger compartment 10.

[0074] The rear wheel 31 is connected to a drive device 5 such as a belt, a chain or a gear. The drive device 5 is in turn connected to an electric motor 7 which sets the rear wheel 31 in motion, from electrical energy stored in batteries 9, located in a floor of the passenger compartment 10 in the example of [Fig.2].

[0075] The drive device 5 may in particular comprise a gearbox.

[0076] The recharging of at least part of the electrical energy stored in the batteries 9 is obtained by means of a pedal 14.

[0077] The pedal assembly 14 is shown in [Fig.3] separately, with the electric motor 7, the drive device 5 and the rear drive wheel 31.

[0078] The pedal assembly 14 comprises pedals 141, on which the user presses using his feet and legs for their movements. A haptic feedback generator 15 is connected to the pedal assembly 14, or is even integrated into it. This haptic feedback generator 15 generates a generally resistive torque on the pedal assembly 14. In certain particular embodiments, this haptic feedback generator 15 can be a motor.

[0079] The pedal assembly 14 is advantageously in the form of a reversible electrical machine, in particular direct current, comprising a generator operating mode, in which a controlled electrical charge forms the haptic feedback generator 15.

[0080] The pedal assembly 14 can, in its operation in generator mode, convert at least part of the mechanical energy supplied by the user into electrical energy stored in the battery 9 to be restored later in the form of acceleration of the wheels 31, 33 by means of the electric motor 7.

[0081] Other means of generating the resistive torque can for example be obtained by producing a dedicated braking device, for example mechanical friction, or a dedicated electric motor can be used, the action of said dedicated electric motor being opposed to that of the user at the level of the pedal assembly 14.

[0082] The pedal assembly 14 also includes one or more angular position sensors 143 of the pedals 141 with possibly a simple time derivator to obtain the pedaling cadence. These angular position sensors 143 thus make it possible to estimate or measure the angular position 0(t) of the pedals 141 at time t.

[0083] [Fig. 3] is a schematic representation of the vehicle elements involved in the regulation method according to the invention.

[0084] Said elements comprise: the pedal assembly 14, the haptic feedback generator 15, the electric motor 7, the drive device 5, means for estimating the rotation rate of the pedal assembly 14, i.e. the means for estimating the rate rotation 143, for example the pedal position sensors 141 in the example of [Fig.3], the battery 9 and a control unit 19, connected to a current regulator device 17 arranged between the battery 9 and the electric motor 7.

[0085] The electric motor 7 delivers its mechanical power to the wheel 31 via the drive device 5. The wheel 31 comprises position sensors 35 of the wheel 31. The position sensors 35 are electronically connected to the control unit 19, and can in particular be used to determine a blocking or slipping of the wheel 31.

[0086] The control unit 19 is for example produced in the form of a processor connected to a programmable memory, and comprises means for actuating different electrical and electronic elements by means of transistors and controlled switches.

[0087] In particular, the operating modes of the vehicle 1 include: - a forward-geared operating mode FW, in which the movement in a direct direction of the pedals 141 causes the vehicle 1 to move forward and in which a haptic feedback torque is applied to the pedal assembly 14, and - a reverse-engaged operating mode BW, in which rotation of the pedals 141 in an indirect direction, opposite to the direct direction, causes the vehicle 1 to move in reverse, and in which a haptic feedback torque is applied to the pedal assembly 14; and - a disengaged operating mode W0 in which the pedals can be rotated without causing rotation of the drive wheel 31 and in which no haptic feedback torque is applied to the pedal assembly 14, the pedals 141 then rotating in a vacuum.

[0088] In particular, in the engaged operating modes FW, BW, the rotation of the pedals 141 and of the wheel 31 are mutually controlled, with a fixed rotation ratio, corresponding to an operating mode called “Fixie” from the English “fixed gear” i.e. with a fixed ratio as in so-called “Dutch” bicycles.

[0089] The control unit 19 includes in its memory a Boolean LES (“Last Engaged State”), here called “last engaged state” and worth either “forward” FW or “reverse” BW. When one of the engaged states FW, BW is engaged, the value of the Boolean changes accordingly. As long as the vehicle 1 is in disengaged operating mode W0, the value of the last engaged state LES remains unchanged.

[0090] When starting the vehicle 1, the control unit 19 is configured to first enter an initialization phase, during which it is configured to apply a control method: - apply the disengaged operating mode W0; - measure the initial angular position 0(0) of the pedals 141 and define it as reference position; - set the last engaged state value to be forward by default.

[0091] At the end of this initialization state, the method enters a continuous operating state, in which the control unit 19 regularly evaluates the angular position of the pedals 141 and adopts a behavior dependent on the value of the last engaged state LES, with a substantially symmetrical behavior according to said value FW, BW.

[0092] The initialization phase is notably applied after a prolonged stopping or standby phase of the vehicle 1, when the user restarts the vehicle 1 by actuating a start / stop command in particular.

[0093] When the value of the last engaged state LES is in forward running FW, the method executes the following steps.

[0094] The method will firstly place a fixed rear terminal RB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to reverse gear operating mode BW. This rear terminal RB is located at a first distance A from the reference position 0 in the indirect direction of rotation of the pedals 141.

[0095] The method will then place a dynamic front terminal FB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to the forward gear operating mode FW. This front terminal is located at a second distance e from the reference position in the direct direction of rotation of the pedals, and remains at a fixed distance from the position 0 of the pedals 141 as long as the pedal assembly 14 is actuated in the indirect direction.

[0096] To do this, as long as the pedal assembly 14 is actuated in the indirect direction, the measured instantaneous position 0(t) of the pedals 141 becomes the reference position for said dynamic front terminal FB.

[0097] The first distance A corresponds to the essential part of the angular domain over which the disengaged operating mode W is applied. It is typically between a quarter turn (90°) and one and a half turns (540°), and particularly approximately one turn (360°).

[0098] According to a variant, its exact value can be determined by the user U by means of a specific command.

[0099] The user U can then freely replace the pedals 141 by rotation in the indirect direction, without triggering a reverse movement of the vehicle 1 immediately as long as it remains between the front FB and rear RB terminals, while by overcoming the disengaged operating range W0, the reverse gear BW is engaged.

[0100] The second distance e is much smaller than the first distance A. It is worth typically two to fifteen degrees of angle (2-15°). It is used to model the output of a conventional cycle freewheel, while allowing slight forward movement of the pedals without triggering forward movement of the vehicle 1.

[0101] [Fig.4] illustrates the resulting behavior of the method, by representing the placement of the terminals RB, FB according to the movement of the pedals 141.

[0102] In [Fig.4], a horizontal line is represented several times, on which the angular position 0 of the pedals 141 is indexed over time according to different actuations by the user U.

[0103] At the top in [Fig.4], on the first line is represented the initial position 0(0) of the pedals 141, measured for example during the initialization phase. On either side of said initial position 0(0) are represented the front FB and rear RB terminals as initially placed in application of the method.

[0104] Second from the top, on the second line is represented the position 0(t) adopted after an actuation in the indirect direction (towards the left in [Fig.4]) of the pedal 14.

[0105] The position 0(t) of the pedals 141 has moved closer to the rear terminal RB, the location of which has remained unchanged, while the front terminal FB remains at the second distance e.

[0106] If the user U continues to operate the pedals 141 in the indirect direction, the angular position 0(t) will eventually reach the rear terminal RB, and the control unit 19 then switches the operating mode of the vehicle 1 to reverse gear BW. The value of the last engaged state Boolean LES is then modified to be “reverse gear” BW.

[0107] Third from the top, on the third line is shown the behavior in the event of reversal of the direction of rotation of the pedals 141. The third line corresponds to an actuation in the indirect direction up to a time t, similarly to the situation shown on the second line, followed by an actuation in the direct direction for a duration dt.

[0108] The angular position 0(t + dt) of the pedals 141 after this inversion of the direction of actuation of the pedals 141 is located to the right of the angular position 0(t) after the actuation in the indirect direction, at a distance less than the second angular distance e from the latter. During the duration dt of the actuation in the direct direction, the front FB and rear RB terminals do not move.

[0109] By continuing the actuation in the direct direction, in particular with an angular displacement of the pedals 141 equal to or greater than the second distance e, the angular position 0 of the pedals 141 will end up reaching and then exceeding the front terminal FB thus displaced by the previous actuation in the indirect direction.

[0110] The control unit 19 then engages the operating mode of the vehicle 1 in FW forward. The value of the last engaged state boolean LES is then unchanged, always being “forward” FW.

[0111] Fourth from the top, on the fourth line, the behavior is shown when the pedal is operated in the forward direction up to a time t, starting from the initial position 0(0).

[0112] The angular position 0(t) at time t is located to the right of the initial position 0(0), at a distance from it less than the second distance e. The front FB and rear RB terminals have remained unchanged compared to the initial situation of the first straight line.

[0113] The user U thus feels a “limited freewheel” which is applied over an angular range in the indirect direction until reaching the rear terminal RB, while actuation in the direct direction of the pedal assembly 14 will very quickly trigger a forward movement of the vehicle 1 as long as the disengaged operating mode W0 is applied.

[0114] When the value of the last engaged state is “reverse”, the behavior of the front FB and rear RB terminals is reversed: the front terminal becomes fixed, while the rear RB terminal is dynamic and follows the angular position 0(t) in the event of forward actuation of the pedal assembly 14.

[0115] This is for example the case when the user U stops the vehicle 1 after having parked in reverse, in particular without stopping the vehicle 1 by putting it in a standby state.

[0116] The method will firstly place a fixed front terminal FB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to forward gear operating mode FW. This front terminal is located at the first distance A from the reference position 0 in the direct direction of rotation of the pedals 141.

[0117] The method will then place a dynamic rear terminal RB, corresponding to an angular position 0 of the pedals 141 beyond which the vehicle 1 switches to reverse gear engaged operating mode BW. This rear terminal RB is located at the second distance e from the reference position in the indirect direction of rotation of the pedals 141, and remains at a fixed distance from the position 0 of the pedals 141 as long as the pedal assembly 14 is actuated in the direct direction.

[0118] To do this, as long as the pedal 14 is actuated in the forward direction, the measured instantaneous position 0(t) of the pedals 141 becomes the reference position for said dynamic front terminal FB.

[0119] [Fig.5] schematically illustrates this behavior.

[0120] In a similar manner to [Fig.4], [Fig.5] comprises two straight lines on which the angular position 0 of the pedals 141 is indexed.

[0121] At the top in [Fig.5] is shown the initial position 0(0) of the pedals 141. The rear terminal RB is placed at the second distance e from said initial position 0(0), and the front terminal FB is placed at the first distance A.

[0122] At the bottom in [Fig.5], user U has operated the pedal 14 in the forward direction, and the pedals are now at the angular position 0(t). The rear terminal RB has moved, and is still at the second distance e from the angular position 0(t), while the front terminal FB has remained at the same location.

[0123] We thus understand that the behavior is symmetrical according to the value of the last engaged state LES, the rear terminal RB becoming the mirror image of the front terminal FB and vice versa.

[0124] We thus have a “limited freewheel” in both directions, ensuring that the reversal of the direction of travel of the vehicle 1 (changing from forward gear to reverse gear and vice versa) results from a voluntary action, since the user U must make the pedals 141 travel the first angular distance A before the vehicle 1 moves.

[0125] To reinforce the voluntary nature of this reversal of direction of movement, it is possible to implement a variable haptic feedback signaling torque, for example sinusoidal or in square waves, when the angular position reaches a safety angular distance, less than at least the first A, relative to at least one of the front FB or rear RB terminals, and in particular the terminal located at the first distance A from the initial reference position 0(0), while maintaining the disengaged operating mode W0 of the vehicle.

[0126] The safety angular distance is then typically between fifteen and forty-five degrees of angle.

[0127] In addition or as an alternative, an increasing resistive torque can be applied when approaching the terminal FB, RB to ensure a continuous transition with the resistive torque applied in the engaged state FW, BW.

[0128] Thus, the user U feels through the haptic signaling feedback that he is approaching the front FB or rear RB terminal which will trigger an engaged operating mode FW, BW opposite to the last engaged state LES.

[0129] The method described above is advantageously implemented at low speeds V of the vehicle 1 only.

[0130] To do this, the method provides for the following steps: - measure the vehicle speed;

[0131] - compare the vehicle speed to a forward speed threshold value Vss+ and a reverse speed threshold value Vss- considered negative,

[0132] - if the vehicle speed is greater than the forward speed threshold value Vss+ or lower than the reverse speed threshold value Vss-, the process exits from the engaged state in forward gear FW or reverse gear BW to enter a cruise state CR.

[0133] In the cruising state CR, the method measures, in particular, regularly measures at least one quantity linked to the actuation of the pedals by the user and controls the speed V of the vehicle 1 and the haptic feedback torque as a function of said measured quantity.

[0134] In particular, the cruising state CR can be optimized to allow movement of the vehicle 1 at high speeds, of several tens of kilometers per hour, higher than the speeds usually reached by cycles.

[0135] For example, the control unit 19 can measure a power exerted by the user U on the pedals 14, given as being the product of the pedaling cadence and the haptic feedback torque.

[0136] The control unit 19 regulates the setpoint cadence by estimating the power applied to the pedal assembly 14 by its rotation and by decreasing or increasing the setpoint cadence so that said setpoint cadence increases with the power applied to the pedal assembly 14.

[0137] The set rate may in particular depend linearly on the power, with a slope of between 0.05 and 0.25 rpm per watt, more particularly from 0.08 to 0.15 rpm per watt.

[0138] Outside of the set rate, the control unit 19 exerts a significant haptic feedback torque, increasing rapidly with the deviation from the set rate.

[0139] When entering the CR cruise state, the method makes it possible to implement a backpedal brake or “Dutch brake”.

[0140] To do this, in the CR cruising state, the method provides for:

[0141] - measure the angular position 0 of the pedals 141, and deduce a direction of de placement of pedals 141, in particular by means of a simple derivator; and

[0142] - when the movement of the pedals 141 is contrary to the direction of travel of the vehicle 1, a braking device is activated, and controlled by backpedaling.

[0143] For example, from the angular position 0 of the pedals 141 at which the direction of rotation of the pedals 141 has reversed, an increasing braking power and an increasing resistive haptic torque are exerted, increasing with the deviation from the reversal position.

[0144] When braking sufficiently reduces the speed V of vehicle 1 in absolute value, in particular by bringing it between the threshold values ​​Vss+, Vss-, a “limited freewheel” is again implemented.

[0145] To do this, the method applies the steps:

[0146] - measure the speed V of vehicle 1;

[0147] - if the vehicle speed is higher than the forward speed limit value Vss+ or less than the reverse speed limit value Vss-, the process maintains operation in cruise state CR; and

[0148] - if the vehicle speed is lower than the forward speed limit value Vss+ and greater than the reverse speed limit value Vss-, the process waits for a movement of the pedals in the direction of travel of the vehicle greater than a threshold angular value, corresponding to a release of the brake, to be made and detected.

[0149] The method then restarts without executing the initialization phase, the position of the pedals when the threshold angular value for releasing the brake is reached becoming the reference position for placing the terminals, and the last engaged state boolean LES takes the value of the direction of movement of vehicle 1 before braking.

[0150] The threshold angular value for releasing the brake is notably between two and fifteen degrees of angle, corresponding to a small movement of releasing the brake.

[0151] [Fig.6] illustrates the different areas of exercise of the operating modes and states of the vehicle 1 provided by the method.

[0152] [Fig.6] is a two-dimensional graph, the horizontal axis corresponding to the speed V of the vehicle, and the vertical axis to the angular position 0 of the pedals 141.

[0153] Two vertical lines are placed at the forward speed limit values ​​Vss+ and reverse speed limit values ​​Vss-.

[0154] Two horizontal lines are placed at the angular values ​​0 corresponding to the front FB and rear RB terminals. The reference angular position is assumed to be zero for clarity. The front FB terminal is at the first angular distance A, and the rear RB terminal is at the second angular distance e, corresponding to the case where the last engaged state Boolean LES is equal to “reverse”.

[0155] These four lines delimit a rectangle, within which the disengaged operating mode W0 is applied. Indeed, in this rectangle, the pedals 141 have not yet reached one of the terminals FB, RB, and the speed V of the vehicle does not justify switching to cruise operating mode CR.

[0156] When the speed V is between the limit values ​​Vss+, Vss- but one of the front FB or rear RB limits has been reached or exceeded, corresponding to the space in the column above and below the rectangle where the disengaged mode W0 is applied, the method provides for engaged operation in forward gear FW above, and in reverse gear BW below said rectangle.

[0157] In the half-spaces to the left and right of said rectangle, corresponding respectively to the speed values ​​V lower than the negative limit value Vss- and higher than the positive limit value Vss+, the cruising state CR is applied independently of the angular position 0 of the pedals 141.

[0158] By means of the method according to the invention, it is possible to reconcile the presence of a reverse gear BW and a freewheel WO allowing the pedals 141 to be returned to a comfortable position when starting the vehicle 1.

Claims

Claims

1. Method for controlling a series hybrid vehicle (1) by means of a pedal assembly (14), the pedal assembly comprising means (143) for measuring the angular position (0) of pedals (141) of said pedal assembly (14) and means for applying a haptic feedback torque to the pedal assembly (14), the vehicle (1) comprising: - a forward-engaged operating mode (FW), in which movement in a forward direction of the pedals (141) causes forward movement of the vehicle (1) and in which a haptic feedback torque is applied to the pedal assembly (14), and - a reverse-engaged operating mode (BW), in which movement in an indirect direction, opposite to the direct direction, of the pedals (141) causes the vehicle to move in reverse, and in which a haptic feedback torque is applied to the pedal assembly (14); and - a disengaged operating mode (W) in which the pedals (141) can be rotated without causing movement of the vehicle (1) and in which a low or even zero haptic feedback torque is applied to the pedal assembly (14); characterized in that the method comprises the following steps: * in an initialization state: - apply the disengaged operating mode (WO); - measure the initial angular position (0(0)) of the pedals (141) and define it as the reference position; - default a last engaged state (LES) value, which can be forward (FW) or reverse (BW), as forward (FW); and * when the value of the last engaged state (LES) is in forward gear (FW), the method executes the steps: - placing a fixed rear terminal (RB), corresponding to an angular position (0) of the pedals (141) beyond which the vehicle (1) switches to reverse gear engaged operating mode (BW) located at a first distance (A) from the reference position (0(0)) in the indirect direction of rotation of the pedals (141); - place a dynamic front terminal (FB), corresponding to an angular position (0) of the pedals (141) beyond which the vehicle (1)

2. switching to forward gear (FW) operating mode, located at a second distance (e) from the reference position (0(0)) in the direct direction of rotation of the pedals (141), and - as long as the pedal assembly (14) is actuated in the indirect direction, the measured instantaneous position (0(t)) of the pedals (141) becomes the reference position (0(0)) for the dynamic front terminal (FB), the front terminal thus following said instantaneous position (0(t)) at said second distance (e), * when the value of the last engaged state (LES) is in reverse (BW), the method executes the steps: - placing a fixed front terminal (FB), corresponding to an angular position (0) of the pedals (141) beyond which the vehicle (1) switches to forward gear operating mode (FW) located at a first distance (A) from the reference position (0(0)) in the direct direction of rotation of the pedals (141); - placing a dynamic rear terminal (RB), corresponding to an angular position (0) of the pedals (141) beyond which the vehicle (1) switches to reverse gear engaged operating mode (BW), located at a second distance (e) from the reference position (0(0)) in the direct direction of rotation of the pedals (141), and - as long as the pedal assembly (14) is operated in the forward direction, the measured instantaneous position (0(t)) of the pedals (141) becomes the reference position for the dynamic rear terminal (RB), the rear terminal (RB) thus following said reference position (0(t)) at said second distance (epsilon), * regularly measure the angular position (0) of the pedals and, if necessary, switch to engaged operating mode in forward (FW) or reverse (BW) when the angular position (0) of the pedals (141) reaches one of the forward (FB) or reverse (RB) terminals, and update the value of the last engaged state (LES). The control method of claim 1, wherein when the forward (FW) or reverse (BW) engaged mode is applied, the method comprises the following steps: - measure the speed (V) of the vehicle (1); - if the speed (V) of the vehicle (1) is greater than a threshold value for forward movement (Vss+) or less than a threshold value for reverse movement (Vss-), the method interrupts the regular measurement of the position of the pedals (141) to enter a state of cruise (CR) in which the method applies the steps: - measuring at least one quantity linked to the actuation of the pedals (14) by the user (U); and - controlling the speed (V) of the vehicle (1) and the haptic feedback as a function of said measured quantity.

3. Control method according to claim 2, wherein, in the cruising state, the method also performs the following steps: - measuring the angular position (0) of the pedals (141) and deducing therefrom a direction of movement of the pedals (141); and - when the direction of movement of the pedals (141) is opposite to the direction of travel of the vehicle (1), a braking device is activated and controlled by backpedaling.

4. Control method according to claim 3, wherein when braking of the vehicle (1) by backpedaling is carried out, the control method applies the steps: - measuring the speed (V) of the vehicle (1); - if the speed (V) of the vehicle (1) is greater than a forward speed limit value (Vss+) or less than a reverse speed limit value (Vss-), the method maintains operation in cruise mode; and - if the speed (V) of the vehicle (1) is less than the forward speed limit value (Vss+) and greater than the reverse speed limit value (Vss-) and a movement of the pedals (141) in the direction of travel of the vehicle (1) greater than a threshold angular value is detected, the method restarts without executing the initialization phase, the position of the pedals (141) when the threshold angular value is reached becoming the reference position (0(0)).

5. Method according to the preceding claim, in which the threshold angular value is between two and fifteen degrees of angle.

6. Control method according to one of claims 2 to 5, wherein, when the cruise state (CR) is applied, the method comprises the following steps: - measuring the speed (V) of the vehicle (1); - if the speed (V) of the vehicle (1) is lower than a forward speed limit value (Vss+) and higher than the reverse speed limit value (Vss-), the method exits the cruise state (CR), the angular position of the pedals when crossing one of the speed limit values ​​(Vss+, Vss-) becoming the reference position.

7. Control method according to one of the preceding claims, in which the initialization phase is initiated after a stopping phase in which the vehicle (1) is stationary for a predetermined duration.

8. Control method according to one of the preceding claims, in which the first angular distance (A) is between a quarter turn and one and a half turns, or between ninety and five hundred and forty degrees of angle.

9. Method according to the preceding claim, in which the first angular distance (A) is configurable by the user.

10. Control method according to one of the preceding claims, in which the second angular distance (e) is between two and fifteen degrees of angle.

11. Control method according to one of the preceding claims, in which when the angular position (0) of the pedals is located at an angular distance less than a safety angular distance from the front (FB) or rear (RB) terminals, a variable haptic signaling torque is applied to the pedal assembly (14).

12. Series hybrid vehicle comprising: - a motor (7), driving a drive wheel (31); - a pedal assembly (14) allowing the control of the motor (7) by rotating pedals (141); - a haptic feedback device exerting a variable resistive torque on the pedal assembly (14); and - means for estimating (143) the angular position (0) of the pedals (141); characterized in that it is configured to implement the control method of one of the preceding claims.

13. A series hybrid vehicle according to claim 12, wherein the mechanical energy applied to the pedal assembly (14) is also used to recharge a battery (9) used to power the motor (7) driving the drive wheel (31).

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